feat(schemas): joint-drive schema-fragment API (additive)#8
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vidurv-nvidia wants to merge 5 commits into
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feat(schemas): joint-drive schema-fragment API (additive)#8vidurv-nvidia wants to merge 5 commits into
vidurv-nvidia wants to merge 5 commits into
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Add the additive joint-drive schema-fragment framework, mirroring the rigid-body pilot. This is the override-func family: UsdPhysicsDriveCfg overrides func with apply_drive instead of the generic applier. Core: - JointDriveFragment marker and UsdPhysicsDriveCfg (typed multi-instance UsdPhysics.DriveAPI; max_effort -> max_force alias). - apply_drive: per-joint writer reproducing modify_joint_drive_properties (angular/linear instance pick, tendon-child guard, rad->deg conversion for angular stiffness/damping, drive_type -> type carve-out). - apply_joint_drive_properties: recursive family writer; DriveAPI is presence-gated (applied only when a UsdPhysicsDriveCfg is present). ensure_drives_exist is a writer kwarg, not a fragment field. Backends: - PhysxJointCfg (physxJoint:* / PhysxJointAPI, max_joint_velocity with max_velocity alias). - MujocoJointCfg (mjc:* / MjcJointAPI, actuatorgravcomp). Spawner: - Widen joint_drive_props slot to accept a fragment list; add the spawner-level ensure_drives_exist flag. Bridge the from-files spawn site while keeping the gravcomp auto-enable logic working for fragments. Add exports, test_joint_drive_fragments.py, and changelog fragments.
…t rad->deg conversion
The tendon-child guard (PhysxTendonAxisAPI without PhysxTendonAxisRootAPI) lived only inside apply_drive. The dispatch loop in apply_joint_drive_properties runs every fragment's func per joint prim, so PhysxJointCfg / MujocoJointCfg authored physxJoint:* / mjc:* attributes on tendon-child joints that the legacy modify_joint_drive_properties skipped wholesale (it returns False, so @apply_nested writes nothing and descends). Hoist the guard into the dispatch loop so a tendon-child joint is skipped for all fragments (and its children are descended into, matching the legacy writer). apply_drive keeps its own guard defensively. Add a regression test (verified to fail before the fix).
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Description
Additive joint-drive fragment family (custom func)
UsdPhysicsDriveCfgoverridingfunc→apply_drive(multi-instanceDriveAPI, rad→deg for angular,drive_type→type, tendon-child guard)PhysxJointCfg(physxJoint:maxJointVelocity); newton:MujocoJointCfg(mjc:actuatorgravcomp)apply_joint_drive_properties(...):DriveAPIpresence-gated;ensure_drives_existis a spawner-level flag.max_joint_velocityrad→deg conversion is NOT reproduced (it now lives onPhysxJointCfgwritten by the generic applier, which has no joint-type awareness). For angular-joint parity,PhysxJointCfgneeds its own override func. Status: authored, ruff clean, sim verification pending.Fixes # (N/A — part of the staged physics schema-fragment refactor; no tracked public issue)
Type of change
Screenshots
N/A — no user-facing visual changes.
Checklist
ruff+ruff-format) on the changed files./isaaclab.sh -d; not separately authored)source/<pkg>/changelog.d/for every touched packageCONTRIBUTORS.md